<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: io/include/pcl/io/depth_sense/depth_sense_grabber_impl.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('depth__sense__grabber__impl_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">depth_sense_grabber_impl.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_IO_DEPTH_SENSE_GRABBER_IMPL_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_IO_DEPTH_SENSE_GRABBER_IMPL_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;boost/thread/mutex.hpp&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;DepthSense.hxx&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2time_8h.html">pcl/common/time.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/io/buffers.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/io/depth_sense_grabber.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">namespace </span>depth_sense</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html">   58</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html">DepthSenseGrabberImpl</a></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a5596706b0c6cb89cc52cca457c131ab3">   62</a></span>&#160;        <a class="code" href="classpcl_1_1_depth_sense_grabber.html">DepthSenseGrabber</a>* <a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a5596706b0c6cb89cc52cca457c131ab3">p_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a5a200da5619fdc05b1c58fba76df6261">   65</a></span>&#160;        std::string <a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a5a200da5619fdc05b1c58fba76df6261">device_id_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keywordtype">bool</span> is_running_;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keywordtype">int</span> confidence_threshold_;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        DepthSenseGrabber::TemporalFilteringType temporal_filtering_type_;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        boost::shared_ptr&lt;DepthSense::ProjectionHelper&gt; projection_;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typedef</span> DepthSenseGrabber::sig_cb_depth_sense_point_cloud sig_cb_depth_sense_point_cloud;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> DepthSenseGrabber::sig_cb_depth_sense_point_cloud_rgba sig_cb_depth_sense_point_cloud_rgba;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a2d2663e428a21851bc5010d7bee3db4a">   78</a></span>&#160;        boost::signals2::signal&lt;sig_cb_depth_sense_point_cloud&gt;* <a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a2d2663e428a21851bc5010d7bee3db4a">point_cloud_signal_</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#ab57206d589100766c08ad978968bb33f">   80</a></span>&#160;        boost::signals2::signal&lt;sig_cb_depth_sense_point_cloud_rgba&gt;* <a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#ab57206d589100766c08ad978968bb33f">point_cloud_rgba_signal_</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a961585646a9518ab48035e9b02b547a5">   84</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a961585646a9518ab48035e9b02b547a5">need_xyz_</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a2bf4c5c9ea8c1b709de9c9a435685e03">   88</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a2bf4c5c9ea8c1b709de9c9a435685e03">need_xyzrgba_</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="classpcl_1_1_event_frequency.html">EventFrequency</a> frequency_;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keyword">mutable</span> boost::mutex fps_mutex_;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a20f7a5409a793cb9dd7381bb27445a8f">   94</a></span>&#160;        std::vector&lt;uint8_t&gt; <a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a20f7a5409a793cb9dd7381bb27445a8f">color_data_</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        boost::shared_ptr&lt;pcl::io::Buffer&lt;float&gt; &gt; depth_buffer_;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> FRAMERATE = 30;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> WIDTH = 320;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> HEIGHT = 240;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SIZE = WIDTH * HEIGHT;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> COLOR_WIDTH = 640;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> COLOR_HEIGHT = 480;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> COLOR_SIZE = COLOR_WIDTH * COLOR_HEIGHT;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html">DepthSenseGrabberImpl</a> (<a class="code" href="classpcl_1_1_depth_sense_grabber.html">DepthSenseGrabber</a>* parent, <span class="keyword">const</span> std::string&amp; device_id);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        ~<a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html">DepthSenseGrabberImpl</a> () throw ();</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        start ();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        stop ();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        getFramesPerSecond () const;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        setConfidenceThreshold (<span class="keywordtype">int</span> threshold);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        enableTemporalFiltering (<a class="code" href="classpcl_1_1_depth_sense_grabber.html">DepthSenseGrabber</a>::TemporalFilteringType type, <span class="keywordtype">size_t</span> window_size);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        setCameraParameters (const DepthSense::StereoCameraParameters&amp; parameters);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        configureDepthNode (DepthSense::DepthNode node) const;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        configureColorNode (DepthSense::ColorNode node) const;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a3d914fa13016bb814a1075142ce1b255">  139</a></span>&#160;        <a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a3d914fa13016bb814a1075142ce1b255">onDepthDataReceived</a> (DepthSense::DepthNode node, DepthSense::DepthNode::NewSampleReceivedData data);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#aa2d7451bde4bae9d9c4fca6d544c734f">  146</a></span>&#160;        <a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#aa2d7451bde4bae9d9c4fca6d544c734f">onColorDataReceived</a> (DepthSense::ColorNode node, DepthSense::ColorNode::NewSampleReceivedData data);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        template &lt;typename Point&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        computeXYZ (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;Point&gt;&amp; cloud);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      };</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;}</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_IO_DEPTH_SENSE_GRABBER_IMPL_H */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_depth_sense_grabber_html"><div class="ttname"><a href="classpcl_1_1_depth_sense_grabber.html">pcl::DepthSenseGrabber</a></div><div class="ttdef"><b>Definition:</b> depth_sense_grabber.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_event_frequency_html"><div class="ttname"><a href="classpcl_1_1_event_frequency.html">pcl::EventFrequency</a></div><div class="ttdoc">A helper class to measure frequency of a certain event.</div><div class="ttdef"><b>Definition:</b> time.h:152</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="acommon_2time_8h_html"><div class="ttname"><a href="common_2time_8h.html">time.h</a></div></div>
<div class="ttc" id="astructpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl_html"><div class="ttname"><a href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html">pcl::io::depth_sense::DepthSenseGrabberImpl</a></div><div class="ttdef"><b>Definition:</b> depth_sense_grabber_impl.h:59</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl_html_a20f7a5409a793cb9dd7381bb27445a8f"><div class="ttname"><a href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a20f7a5409a793cb9dd7381bb27445a8f">pcl::io::depth_sense::DepthSenseGrabberImpl::color_data_</a></div><div class="ttdeci">std::vector&lt; uint8_t &gt; color_data_</div><div class="ttdoc">Temporary buffer to store color data</div><div class="ttdef"><b>Definition:</b> depth_sense_grabber_impl.h:94</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl_html_a2bf4c5c9ea8c1b709de9c9a435685e03"><div class="ttname"><a href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a2bf4c5c9ea8c1b709de9c9a435685e03">pcl::io::depth_sense::DepthSenseGrabberImpl::need_xyzrgba_</a></div><div class="ttdeci">bool need_xyzrgba_</div><div class="ttdef"><b>Definition:</b> depth_sense_grabber_impl.h:88</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl_html_a2d2663e428a21851bc5010d7bee3db4a"><div class="ttname"><a href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a2d2663e428a21851bc5010d7bee3db4a">pcl::io::depth_sense::DepthSenseGrabberImpl::point_cloud_signal_</a></div><div class="ttdeci">boost::signals2::signal&lt; sig_cb_depth_sense_point_cloud &gt; * point_cloud_signal_</div><div class="ttdoc">Signal to indicate whether new XYZ cloud is available</div><div class="ttdef"><b>Definition:</b> depth_sense_grabber_impl.h:78</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl_html_a3d914fa13016bb814a1075142ce1b255"><div class="ttname"><a href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a3d914fa13016bb814a1075142ce1b255">pcl::io::depth_sense::DepthSenseGrabberImpl::onDepthDataReceived</a></div><div class="ttdeci">void onDepthDataReceived(DepthSense::DepthNode node, DepthSense::DepthNode::NewSampleReceivedData data)</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl_html_a5596706b0c6cb89cc52cca457c131ab3"><div class="ttname"><a href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a5596706b0c6cb89cc52cca457c131ab3">pcl::io::depth_sense::DepthSenseGrabberImpl::p_</a></div><div class="ttdeci">DepthSenseGrabber * p_</div><div class="ttdoc">Parent grabber</div><div class="ttdef"><b>Definition:</b> depth_sense_grabber_impl.h:62</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl_html_a5a200da5619fdc05b1c58fba76df6261"><div class="ttname"><a href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a5a200da5619fdc05b1c58fba76df6261">pcl::io::depth_sense::DepthSenseGrabberImpl::device_id_</a></div><div class="ttdeci">std::string device_id_</div><div class="ttdoc">Serial number of the device captured by this grabber</div><div class="ttdef"><b>Definition:</b> depth_sense_grabber_impl.h:65</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl_html_a961585646a9518ab48035e9b02b547a5"><div class="ttname"><a href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#a961585646a9518ab48035e9b02b547a5">pcl::io::depth_sense::DepthSenseGrabberImpl::need_xyz_</a></div><div class="ttdeci">bool need_xyz_</div><div class="ttdef"><b>Definition:</b> depth_sense_grabber_impl.h:84</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl_html_aa2d7451bde4bae9d9c4fca6d544c734f"><div class="ttname"><a href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#aa2d7451bde4bae9d9c4fca6d544c734f">pcl::io::depth_sense::DepthSenseGrabberImpl::onColorDataReceived</a></div><div class="ttdeci">void onColorDataReceived(DepthSense::ColorNode node, DepthSense::ColorNode::NewSampleReceivedData data)</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl_html_ab57206d589100766c08ad978968bb33f"><div class="ttname"><a href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html#ab57206d589100766c08ad978968bb33f">pcl::io::depth_sense::DepthSenseGrabberImpl::point_cloud_rgba_signal_</a></div><div class="ttdeci">boost::signals2::signal&lt; sig_cb_depth_sense_point_cloud_rgba &gt; * point_cloud_rgba_signal_</div><div class="ttdoc">Signal to indicate whether new XYZRGBA cloud is available</div><div class="ttdef"><b>Definition:</b> depth_sense_grabber_impl.h:80</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_bc161955dc3a3d2485839eba21420d01.html">io</a></li><li class="navelem"><a class="el" href="dir_f94476489aa03dc3d80e45611e8a69e3.html">include</a></li><li class="navelem"><a class="el" href="dir_6c35451b89deaece78a478af78a55034.html">pcl</a></li><li class="navelem"><a class="el" href="dir_3fbee88df0a174bff38464c7c69fa75f.html">io</a></li><li class="navelem"><a class="el" href="dir_a0921c465a921f22b0e5307575322d4d.html">depth_sense</a></li><li class="navelem"><b>depth_sense_grabber_impl.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
